Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 65, Issue 1, Pages 453-460Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2019.2919660
Keywords
Attitude control; Trajectory; Force; Control design; Propellers; Trajectory tracking; Planning; Thrust vectoring; trajectory tracking; unmanned aerial vehicles (UAVs)
Funding
- ANR via grant HANDY [ANR-18-CE40-0010]
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This paper addresses the trajectory tracking control problem for underactuated unmanned aerial vehicles (UAVs), with specific focus on vehicles with thrust-vectoring capabilities. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks. Since position tracking is of utmost importance for applications involving aerial vehicles, we propose a control scheme in which position tracking is the primary objective. To this end, this paper exploits the concept of attitude planner, a dynamical system through which the desired attitude reference is processed to guarantee the satisfaction of the primary objective: The attitude tracking task is considered as a secondary objective, which can be realized as long as the desired trajectory satisfies specific trackability conditions.
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